<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::registration::TransformationValidation&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1registration_1_1_transformation_validation.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="classpcl_1_1registration_1_1_transformation_validation-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::registration::TransformationValidation&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
</div><!--header-->
<div class="contents">

<p><a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html" title="TransformationValidation represents the base class for methods that validate the correctness of a tra...">TransformationValidation</a> represents the base class for methods that validate the correctness of a transformation found through <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>.  
 <a href="classpcl_1_1registration_1_1_transformation_validation.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="transformation__validation_8h_source.html">transformation_validation.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a7077a042edcb1d815bf2f7718e6d9600"><td class="memItemLeft" align="right" valign="top"><a id="a7077a042edcb1d815bf2f7718e6d9600"></a>
typedef Eigen::Matrix&lt; Scalar, 4, 4 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
<tr class="separator:a7077a042edcb1d815bf2f7718e6d9600"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a912a4696a63f61e0a432927611b7830b"><td class="memItemLeft" align="right" valign="top"><a id="a912a4696a63f61e0a432927611b7830b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html">TransformationValidation</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a912a4696a63f61e0a432927611b7830b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f0e789ed9ae4fd0e7e81be8f9cf2673"><td class="memItemLeft" align="right" valign="top"><a id="a3f0e789ed9ae4fd0e7e81be8f9cf2673"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html">TransformationValidation</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a3f0e789ed9ae4fd0e7e81be8f9cf2673"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afee696cb2197f3ff81b729df676b0bf3"><td class="memItemLeft" align="right" valign="top"><a id="afee696cb2197f3ff81b729df676b0bf3"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSource</b></td></tr>
<tr class="separator:afee696cb2197f3ff81b729df676b0bf3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29df98ee852155e79e878c6f127fe539"><td class="memItemLeft" align="right" valign="top"><a id="a29df98ee852155e79e878c6f127fe539"></a>
typedef PointCloudSource::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSourcePtr</b></td></tr>
<tr class="separator:a29df98ee852155e79e878c6f127fe539"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a68921d6a61446609f5cae33d8e87e31d"><td class="memItemLeft" align="right" valign="top"><a id="a68921d6a61446609f5cae33d8e87e31d"></a>
typedef PointCloudSource::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudSourceConstPtr</b></td></tr>
<tr class="separator:a68921d6a61446609f5cae33d8e87e31d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a195abfe21e273f1687f6b9d5efb9e005"><td class="memItemLeft" align="right" valign="top"><a id="a195abfe21e273f1687f6b9d5efb9e005"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudTarget</b></td></tr>
<tr class="separator:a195abfe21e273f1687f6b9d5efb9e005"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a1c9db176c33d2e6867edbb7f7c0380"><td class="memItemLeft" align="right" valign="top"><a id="a7a1c9db176c33d2e6867edbb7f7c0380"></a>
typedef PointCloudTarget::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudTargetPtr</b></td></tr>
<tr class="separator:a7a1c9db176c33d2e6867edbb7f7c0380"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41bacb93851e6e630af0381d1bfd1852"><td class="memItemLeft" align="right" valign="top"><a id="a41bacb93851e6e630af0381d1bfd1852"></a>
typedef PointCloudTarget::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudTargetConstPtr</b></td></tr>
<tr class="separator:a41bacb93851e6e630af0381d1bfd1852"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a132672468da2b9d5f7b25cd1e588ad80"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html#a132672468da2b9d5f7b25cd1e588ad80">validateTransformation</a> (const PointCloudSourceConstPtr &amp;cloud_src, const PointCloudTargetConstPtr &amp;cloud_tgt, const Matrix4 &amp;transformation_matrix) const =0</td></tr>
<tr class="memdesc:a132672468da2b9d5f7b25cd1e588ad80"><td class="mdescLeft">&#160;</td><td class="mdescRight">Validate the given transformation with respect to the input cloud data, and return a score. Pure virtual.  <a href="classpcl_1_1registration_1_1_transformation_validation.html#a132672468da2b9d5f7b25cd1e588ad80">更多...</a><br /></td></tr>
<tr class="separator:a132672468da2b9d5f7b25cd1e588ad80"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29135ef21b9da1fbf88d621c2605f9e4"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html#a29135ef21b9da1fbf88d621c2605f9e4">operator()</a> (const double &amp;score1, const double &amp;score2) const =0</td></tr>
<tr class="memdesc:a29135ef21b9da1fbf88d621c2605f9e4"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1_comparator.html" title="Comparator is the base class for comparators that compare two points given some function....">Comparator</a> function for deciding which score is better after running the validation on multiple transforms. Pure virtual.  <a href="classpcl_1_1registration_1_1_transformation_validation.html#a29135ef21b9da1fbf88d621c2605f9e4">更多...</a><br /></td></tr>
<tr class="separator:a29135ef21b9da1fbf88d621c2605f9e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a83d9db609218b9c27d0ca8dcc499bc06"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html#a83d9db609218b9c27d0ca8dcc499bc06">isValid</a> (const PointCloudSourceConstPtr &amp;cloud_src, const PointCloudTargetConstPtr &amp;cloud_tgt, const Matrix4 &amp;transformation_matrix) const =0</td></tr>
<tr class="memdesc:a83d9db609218b9c27d0ca8dcc499bc06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the score is valid for a specific transformation. Pure virtual.  <a href="classpcl_1_1registration_1_1_transformation_validation.html#a83d9db609218b9c27d0ca8dcc499bc06">更多...</a><br /></td></tr>
<tr class="separator:a83d9db609218b9c27d0ca8dcc499bc06"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget, typename Scalar = float&gt;<br />
class pcl::registration::TransformationValidation&lt; PointSource, PointTarget, Scalar &gt;</h3>

<p><a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html" title="TransformationValidation represents the base class for methods that validate the correctness of a tra...">TransformationValidation</a> represents the base class for methods that validate the correctness of a transformation found through <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>. </p>
<p>The inputs for a validation estimation can take any or all of the following:</p>
<ul>
<li>source point cloud</li>
<li>target point cloud</li>
<li>estimated transformation between source and target</li>
</ul>
<p>The output is in the form of a score or a confidence measure.</p>
<dl class="section note"><dt>注解</dt><dd>The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float. </dd></dl>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a83d9db609218b9c27d0ca8dcc499bc06"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a83d9db609218b9c27d0ca8dcc499bc06">&#9670;&nbsp;</a></span>isValid()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual bool <a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html">pcl::registration::TransformationValidation</a>&lt; PointSource, PointTarget, Scalar &gt;::isValid </td>
          <td>(</td>
          <td class="paramtype">const PointCloudSourceConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const PointCloudTargetConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Check if the score is valid for a specific transformation. Pure virtual. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the transformation matrix</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if the transformation is valid, false otherwise. </dd></dl>

</div>
</div>
<a id="a29135ef21b9da1fbf88d621c2605f9e4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a29135ef21b9da1fbf88d621c2605f9e4">&#9670;&nbsp;</a></span>operator()()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual bool <a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html">pcl::registration::TransformationValidation</a>&lt; PointSource, PointTarget, Scalar &gt;::operator() </td>
          <td>(</td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>score1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>score2</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p><a class="el" href="classpcl_1_1_comparator.html" title="Comparator is the base class for comparators that compare two points given some function....">Comparator</a> function for deciding which score is better after running the validation on multiple transforms. Pure virtual. </p>
<dl class="section note"><dt>注解</dt><dd>For example, for Euclidean distances smaller is better, for inliers the oposite.</dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">score1</td><td>the first value </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">score2</td><td>the second value</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if score1 is better than score2 </dd></dl>

</div>
</div>
<a id="a132672468da2b9d5f7b25cd1e588ad80"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a132672468da2b9d5f7b25cd1e588ad80">&#9670;&nbsp;</a></span>validateTransformation()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual double <a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html">pcl::registration::TransformationValidation</a>&lt; PointSource, PointTarget, Scalar &gt;::validateTransformation </td>
          <td>(</td>
          <td class="paramtype">const PointCloudSourceConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const PointCloudTargetConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Validate the given transformation with respect to the input cloud data, and return a score. Pure virtual. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the transformation matrix</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>the score or confidence measure for the given transformation_matrix with respect to the input data </dd></dl>

</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="transformation__validation_8h_source.html">transformation_validation.h</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><b>registration</b></li><li class="navelem"><a class="el" href="classpcl_1_1registration_1_1_transformation_validation.html">TransformationValidation</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
